#ifndef TACHO_H_
#define TACHO_H_

/**
 * Handles the sensory part of the feedback mechanism/electronics
 * @date June 2, 2011
 * @author Brittany Croes
 * @author Guillaume Parker
 * @author David Asabina
 */

/**
 * include wiring code from arduino which contains analogRead
 */
#include "base/wiring.h"

/**
 * tacho globals
 */
uint8_t tachoLeft1;
uint8_t tachoLeft2;
uint8_t tachoRight1;
uint8_t tachoRight2;

/**
 * Initializes the tachometer
 * @param left1 description...
 * @param left2 ???
 * @param right1 ???
 * @param right2 ???
 */
void tachoInit(uint8_t left1, uint8_t left2, uint8_t right1, uint8_t right2);

/**
 * Measures and returns the differential offset between the left and right wheels
 * @return what????
 */
uint8_t tachoRead();

#endif
